public RobotSample GetSample(bool force = false)
{
RobotSample sample = null;
if (Time.time > nextRecordTime || force)
{
if (m_saveLocation != "")
{
// Debug.Log ( "Recording!" );
sample = new RobotSample();
sample.timestamp = System.DateTime.Now.ToString("yyyy_MM_dd_HH_mm_ss_fff");
sample.steerAngle = SteerAngle;
// sample.steerAngle = m_SteerAngle / m_MaximumSteerAngle;
sample.verticalAngle = VerticalAngle;
sample.throttle = ThrottleInput;
sample.brake = BrakeInput;
sample.speed = Speed;
sample.pitch = Pitch;
// new: convert yaw angle to CCW, x-based
sample.yaw = ConvertAngleToCCWXBased(Yaw);
sample.roll = Roll;
sample.position = transform.position;
sample.rotation = transform.rotation;
// Debug.Log ( "Throt " + sample.throttle + " brake " + sample.brake + " pos " + sample.position + " yaw " + sample.yaw );
samples.Enqueue(sample);
// ObjectiveSpawner.Sample ();
}
nextRecordTime = Time.time + recordTime;
}
return(sample);
}
public void StopPickup()
{
RobotSample s = GetSample(true);
s.stopPickup = true;
// var iter = samples.GetEnumerator ();
// RobotSample s = null;
// while ( iter.MoveNext () )
// {
// s = iter.Current;
// }
// s.stopPickup = true;
}
public void TriggerPickup()
{
RobotSample s = GetSample(true);
s.triggerPickup = true;
s.curSample = curObjective.gameObject;
// var iter = samples.GetEnumerator ();
// RobotSample s = null;
// while ( iter.MoveNext () )
// {
// s = iter.Current;
// }
// s.triggerPickup = true;
// s.curSample = curObjective.gameObject;
}
//Changed the WriteSamplesToDisk to a IEnumerator method that plays back recording along with percent status from UISystem script
//instead of showing frozen screen until all data is recorded
public IEnumerator WriteSamplesToDisk()
{
string newLine = "\n";
if (Application.platform == RuntimePlatform.WindowsEditor || Application.platform == RuntimePlatform.WindowsPlayer)
{
newLine = "\r\n";
}
if (string.IsNullOrEmpty(csvSeparatorChar))
{
Debug.LogWarning("Warning: empty/null separator. using `,`");
csvSeparatorChar = ",";
}
yield return(null);
if (samples.Count > 0)
{
string row = "Path" + csvSeparatorChar + "SteerAngle" + csvSeparatorChar + "Throttle" + csvSeparatorChar + "Brake" + csvSeparatorChar + "Speed" + csvSeparatorChar + "X_Position" +
csvSeparatorChar + "Y_Position" + csvSeparatorChar + "Pitch" + csvSeparatorChar + "Yaw" + csvSeparatorChar + "Roll" + newLine;
File.AppendAllText(Path.Combine(m_saveLocation, CSVFileName), row);
ObjectiveSpawner.SetInitialPositions();
int count = samples.Count;
RobotSample sample = null;
int badPickupCount = 0;
bool isPickingUp = false;
for (int i = 0; i < count; i++)
{
// hack: for some reason there are lots of extra samples during the pickup, so artificially advance and drop them
if (!IsPickingUpSample && isPickingUp)
{
do
{
sample = samples.Dequeue();
i++;
badPickupCount++;
} while (!sample.stopPickup && samples.Count > 0 && i < count);
isPickingUp = false;
IsPickingUpSample = false;
}
sample = samples.Dequeue();
transform.position = sample.position;
transform.rotation = sample.rotation;
if (sample.triggerPickup)
{
isPickingUp = true;
// Debug.Log ( "recorded pickup" );
curObjective = sample.curSample.GetComponent <PickupSample> ();
curObjective.transform.parent = null;
curObjective.Collider.enabled = true;
PickupObjective(null);
}
if (sample.stopPickup)
{
Debug.Log("STOP!!");
isPickingUp = false;
IsPickingUpSample = false;
}
string camPath = WriteImage(recordingCam, "robocam", sample.timestamp);
row = camPath + csvSeparatorChar + sample.steerAngle + csvSeparatorChar + sample.throttle + csvSeparatorChar + sample.brake + csvSeparatorChar + sample.speed + csvSeparatorChar +
sample.position.x + csvSeparatorChar + sample.position.z + csvSeparatorChar + sample.pitch + csvSeparatorChar + sample.yaw + csvSeparatorChar + sample.roll + newLine;
File.AppendAllText(Path.Combine(m_saveLocation, CSVFileName), row);
yield return(null);
}
Debug.Log("bad pickup count: " + badPickupCount);
isSaving = false;
//need to reset the car back to its position before ending recording, otherwise sometimes the car ended up in strange areas
transform.position = saved_position;
transform.rotation = saved_rotation;
Vector3 euler = cameraVAxis.localEulerAngles;
euler.x = saved_vAngle;
cameraVAxis.localEulerAngles = euler;
Move(0);
Rotate(0);
RotateCamera(0, 0);
}
}
//Changed the WriteSamplesToDisk to a IEnumerator method that plays back recording along with percent status from UISystem script
//instead of showing frozen screen until all data is recorded
public IEnumerator WriteSamplesToDisk()
{
string newLine = "\n";
if (Application.platform == RuntimePlatform.WindowsEditor || Application.platform == RuntimePlatform.WindowsPlayer)
{
newLine = "\r\n";
}
yield return(null);
if (samples.Count > 0)
{
string row = "Path,SteerAngle,Throttle,Brake,Speed,X_Position,Y_Position,Pitch,Yaw,Roll" + newLine;
File.AppendAllText(Path.Combine(m_saveLocation, CSVFileName), row);
ObjectiveSpawner.SetInitialPositions();
int count = samples.Count;
RobotSample sample = null;
int badPickupCount = 0;
bool isPickingUp = false;
for (int i = 0; i < count; i++)
{
// hack: for some reason there are lots of extra samples during the pickup, so artificially advance and drop them
if (!IsPickingUpSample && isPickingUp)
{
do
{
sample = samples.Dequeue();
i++;
badPickupCount++;
} while (!sample.stopPickup && samples.Count > 0 && i < count);
isPickingUp = false;
}
sample = samples.Dequeue();
transform.position = sample.position;
transform.rotation = sample.rotation;
if (sample.triggerPickup)
{
isPickingUp = true;
// Debug.Log ( "recorded pickup" );
curObjective = sample.curSample.GetComponent <PickupSample> ();
curObjective.transform.parent = null;
curObjective.Collider.enabled = true;
PickupObjective(null);
}
if (sample.stopPickup)
{
Debug.Log("STOP!!");
isPickingUp = false;
}
string camPath = WriteImage(recordingCam, "robocam", sample.timestamp);
row = camPath + "," + sample.steerAngle + "," + sample.throttle + "," + sample.brake + "," + sample.speed + "," +
sample.position.x + "," + sample.position.z + "," + sample.pitch + "," + sample.yaw + "," + sample.roll + newLine;
File.AppendAllText(Path.Combine(m_saveLocation, CSVFileName), row);
yield return(null);
}
Debug.Log("bad pickup count: " + badPickupCount);
isSaving = false;
//need to reset the car back to its position before ending recording, otherwise sometimes the car ended up in strange areas
transform.position = saved_position;
transform.rotation = saved_rotation;
Vector3 euler = cameraVAxis.localEulerAngles;
euler.x = saved_vAngle;
cameraVAxis.localEulerAngles = euler;
Move(0);
Rotate(0);
RotateCamera(0, 0);
}
/* yield return new WaitForSeconds(0.000f); //retrieve as fast as we can but still allow communication of main thread to screen and UISystem
* if (samples.Count > 0) {
* //pull off a sample from the que
* RobotSample sample = samples.Dequeue();
*
* //pysically moving the car to get the right camera position
* transform.position = sample.position;
* transform.rotation = sample.rotation;
* // Vector3 euler = cameraVAxis.localEulerAngles;
* // euler.x = sample.verticalAngle;
* // cameraVAxis.localEulerAngles = euler;
*
* // Capture and Persist Image
* string camPath = WriteImage ( recordingCam, "robocam", sample.timestamp );
*
* string row = camPath + "," + sample.steerAngle + "," + sample.throttle + "," + sample.brake + "," + sample.speed + "," +
* sample.position.x + "," + sample.position.y + "," + sample.position.z + "," + sample.yaw + "\r\n";
* // string row = string.Format ("{0},{1},{2},{3},{4},{5},{6}\n", centerPath, leftPath, rightPath, sample.steeringAngle, sample.throttle, sample.brake, sample.speed);
* File.AppendAllText (Path.Combine (m_saveLocation, CSVFileName), row);
* }
* if (samples.Count > 0) {
* //request if there are more samples to pull
* StartCoroutine(WriteSamplesToDisk());
* }
* else
* {
* //all samples have been pulled
* StopCoroutine(WriteSamplesToDisk());
* isSaving = false;
*
* //need to reset the car back to its position before ending recording, otherwise sometimes the car ended up in strange areas
* transform.position = saved_position;
* transform.rotation = saved_rotation;
* Vector3 euler = cameraVAxis.localEulerAngles;
* euler.x = saved_vAngle;
* cameraVAxis.localEulerAngles = euler;
* Move ( 0 );
* Rotate ( 0 );
* RotateCamera ( 0, 0 );
* }*/
}
